def send_goal_depth_image(self):
# Setup the view pose to be 90 degrees rotated w.r.t the original camera
goal = TelecentricProjectionGoal()
goal.view_pose = self.trafo
goal.frame = FRAME
goal.request_depth_image = True
goal.include_results_in_response = True
self.telecentric_projection_client.send_goal(goal)
def send_goal_point_cloud(self):
goal = TelecentricProjectionGoal()
goal.view_pose = self.trafo
goal.frame = FRAME
goal.include_results_in_response = True
self.telecentric_projection_client.send_goal(goal)
def send_goal_with_publishing_point_cloud(self):
goal = TelecentricProjectionGoal()
goal.view_pose = self.trafo
goal.frame = FRAME
goal.publish_results = True
self.telecentric_projection_client.send_goal(goal)